A gradient-based path optimization method for motion planning

Most algorithms in probabilistic sampling-based path planning compute collision-free paths made of straight line segments lying in the configuration space. Due to the randomness of sampling, the paths make detours that need to be optimized. The contribution of this paper is to propose a basic gradient-based algorithm that transforms a polygonal collision-free path into a shorter one. While requiring only collision checking, and not any time-consuming obstacle distance computation nor geometry simplification, we constrain only part of the configuration variables that may cause a collision, and not entire configurations. Thus, parasite motions that are not useful for the problem resolution are reduced without any assumption. Experimental results include navigation and manipulation tasks, eg a manipulator arm-filling boxes and a PR2 robot working in a kitchen environment. Comparisons with a random shortcut optimizer and a partial shortcut have also been studied.     

Maintaining strong mutual visibility of an evader moving over the reduced visibility graph

In this paper, we address the problem of determining whether a mobile robot, called the pursuer, is able to maintain strong mutual visibility (a visibility notion between regions over a convex partition of the environment) of an antagonist agent, called the evader. We frame the problem as a non cooperative game. We consider the case in which the pursuer and the evader move at bounded speed, traveling in a known polygonal environment with or without holes, and in which there are no restrictions as to the distance that might separate the agents. Unlike our previous efforts (Murrieta-Cid et al. in Int J Robot Res 26:233–253, 2007), we give special attention to the combinatorial problem that arises when searching for a solution through visiting several locations in an environment with obstacles. In this paper we take a step further, namely, we assume an antagonistic evader who moves continuously and unpredictably, but with a constraint over its set of admissible motion policies, as the evader moves in the shortest-path roadmap, also called the reduced visibility graph (RVG). The pursuer does not know which among the possible paths over the RVG the evader will choose, but the pursuer is free to move within all the environment. We provide a constructive method to solve the decision problem of determining whether or not the pursuer is able to maintain strong mutual visibility of the evader. This method is based on an algorithm that computes the safe areas (areas that keep evader surveillance) at all times. We prove decidability of this problem, and provide a complexity measure to this evader surveillance game; both contributions hold for any general polygonal environment that might or not contain holes. All our algorithms have been implemented and we show simulation results.     

A multiphase compressible model for the simulation of multiphase flows

A compressible model able to manage incompressible two-phase flows as well as compressible motions is proposed. After a presentation of the multiphase compressible concept, the new model and related numerical methods are detailed on fixed structured grids. The presented model is a 1-fluid model with a reformulated mass conservation equation which takes into account the effects of compressibility. The coupling between pressure and flow velocity is ensured by introducing mass conservation terms in the momentum and energy equations. The numerical model is then validated with four test cases involving the compression of an air bubble by water, the liquid injection in a closed cavity filled with air, a bubble subjected to an ultrasound field and finally the oscillations of a deformed air bubble in melted steel. The numerical results are compared with analytical results and convergence orders in space are provided.     

A local approach to concept generation

Generating concepts defined by a binary relation between a set of properties and a set of objects is one of the important current problems encountered in Data Mining and Knowledge Discovery in Databases. We present a new algorithmic process which computes all the concepts, without requiring an exponential-size data structure, and with a good worst-time complexity analysis, which makes it competitive with the best existing algorithms for this problem. Our algorithm can be used to compute the edges of the lattice as well at no extra cost.      

Consensus in the presence of mortal Byzantine faulty processes

We consider the problem of reaching agreement in distributed systems in which some processes may deviate from their prescribed behavior before they eventually crash. We call this failure model “mortal Byzantine”. After discussing some application examples where this model is justified, we provide matching upper and lower bounds on the number of faulty processes, and on the required number of rounds in synchronous systems. We then continue our study by varying different system parameters. On the one hand, we consider the failure model under weaker timing assumptions, namely for partially synchronous systems and asynchronous systems with unreliable failure detectors. On the other hand, we vary the failure model in that we limit the occurrences of faulty steps that actually lead to a crash in synchronous systems.     

Gut Microbial Metabolites of Polyunsaturated Fatty Acids Correlate with Specific Fecal Bacteria and Serum Markers of Metabolic Syndrome in Obese Women

The aim of this human study was to assess the influence of prebiotic-induced gut microbiota modulation on PUFA-derived bacterial metabolites production. Therefore, we analyzed the circulating fatty acid profile including CLA/CLnA in obese women treated during 3 months with inulin-type fructan prebiotics. In these patients, we had already determined gut microbiota composition by phylogenetic microarray and qPCR analysis of 16S rDNA. Some PUFA-derived bacterial metabolites were detected in the serum of obese patients. Despite the prebiotic-induced modulation of gut microbiota, including changes in CLA/CLnA-producing bacteria, the treatment did not impact significantly on the circulating level of these metabolites. However, some PUFA-derived bacterial metabolites were positively correlated with specific fecal bacteria (Bifidobacterium spp., Eubacterium ventriosum and Lactobacillus spp.) and inversely correlated with serum cholesterol (total, LDL, HDL). These correlations suggest a potential beneficial effect of some of these metabolites but this remains to be confirmed by further investigation.     

Investigation of nickel deposition onto section and central longitudinal surfaces of AA1370 aluminum electrical wire with and without a weak permanent magnetic field

In this work a special regard is given to the morphology of the nickel deposited layers, onto AA1370 aluminum section and central longitudinal surfaces, with and without a weak magnetic field oriented in parallel and perpendicular to the coated surface in modified Watt bath. The obtained results show the formation of honeycomb structure nickel deposits for samples treated with weak parallel oriented field under approximately 0.3 A/cm₂, and partial dendritic structure nickel deposit for samples treated with weak perpendicular oriented magnetic field, the perimeter deposits with and without magnetic field is different to the deposits in the remain surface. We attributed the defect of nickel deposits on the surfaces with and without magnetic field to the distribution of the intermetallics particles and we attributed the honeycomb structure to the escapement of hydrogen and oxygen.     

Perpendicular Weak Permanent Magnetic Field Effect on the Electrodeposited Nanostructured ZnO Film and its Kinetic Corrosion Behavior

Protection of Metals and Physical Chemistry of Surfaces - In this work the effect of the permanent weak magnetic field on the electrodeposited ZnO nanostructured film on the ITO substrate...     

The autochrome process

Abstract

The autochrome was the first successful commercial colour process. It was invented by Louis and Auguste Lumiere at the tum of the century, patented in 1903 and produced until the 1950s on a sheet film called ‘Filmcolor’. Many articles were published between 1903 when the autochrome process was unveiled to the public, and 1935 when the decline of the screen process began and the first colour films with chromogenic development appeared. There are detailed deseriptions of the plate's range of use, its characteristies and processing, but these publications are very sketchy as to the nature of the components. The most detailed documents, on which this article is based, are the ‘report on the titles and work of Louis Lumiere’ published in 1918, the factory notebooks written by Louis Lumiere or M. Perrigot,¹ and the archives of the Lumiere firm, which are now scattered in various locations.     

Large particle effects in chemical/biochemical heap leach processes - A review

The application of heap leach technology to recovery of economically important metals, notably copper, gold, silver, and uranium, is wide-spread in the mining industry. Unique to heap leaching is the relatively coarse particle size, typically 12-25 mm top size for crushed and agglomerated ores and larger for run-of-mine dump leaching operations. Leaching from such large particles is commonly assumed to follow shrinking core type behaviour, although little evidence for the validity of this assumption exists. This review investigates the current state of knowledge with respect to the understanding of the characteristics and mineralogy of large particles and how these influence leaching in a heap context and the tools to characterize these. This includes the study of ore and particle properties, visualization techniques for ore characterization, the connection between comminution and leaching behaviour, as well as particle models within heap leach modelling. We contend that the economics of heap leaching are strongly governed by the trade-off between the slow rate and limited extent of leaching from large particles and the cost of crushing finer. A sound understanding of the underlying large particle effects will therefore greatly inform future technology choices in the area of heap leaching.